Integrated intelligent detection and automatic identification method and system of photoelectric tracking equipment

Abstract

The invention relates to an integrated intelligent detection and automatic identification method and system for photoelectric tracking equipment, and belongs to the technical field of automatic identification. The photoelectric tracking system comprises a configuration screen, a serial port to IO module, a solid-state relay, a servo control module, the photoelectric tracking equipment and a power supply; the method comprises the steps that a configuration screen inputs chirp function waveform constant-amplitude variable-frequency current to a q-axis open loop of a current loop in a servo control module, and a zero value is given to a d-axis open loop of the current loop; the servo control module collects a motor phase current value of the photoelectric tracking equipment and a value of an encoder, and calculates a feedback current value in real time through an FOC control algorithm; the configuration screen calculates the amplitude-frequency characteristics of the photoelectric tracking equipment, and a recursive least square algorithm is adopted to calculate a first-order inertial model; the servo control module collects the motor current value, the motor bus voltage and the encoder state information of the photoelectric tracking equipment in real time, and the configuration screen judges whether a fault occurs or not. The method is convenient to carry and operate by an individual soldier, the identification time is short, and convergence is easy and fast to realize.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic identification, in particular to an integrated intelligent detection and automatic identification method and system of an optoelectronic tracking device. BACKGROUND

[0002] In the existing optoelectronic tracking system, the following problems exist in the aspect of automatically identifying the model of the controlled object: At present, the optoelectronic tracking device for remote control is generally arranged in a harsh environment such as an island, and the optoelectronic tracking device is far away from the control room. When detecting the state and fault identification of the optoelectronic tracking device in the field, the industrial computer, display screen, mouse, keyboard and other peripherals need to be connected to the optoelectronic tracking device before the detection can be carried out, which is not convenient for single soldier to carry and operate.

[0003] Secondly, the identification of the optoelectronic tracking device adopts step response method or sweep frequency method and its derivative Markov complex identification algorithm, which obtains the model of the controlled object through fitting or other fitting methods in MATLAB based on input and output data and prior knowledge, but cannot automatically identify the model of the controlled object in the frequency range of 0.1Hz-1259Hz at one time. For example, the Chinese patent with publication number CN119396012A, "Hammerstein nonlinear dynamic system identification method and system based on industrial process", although it improves the calculation efficiency and enhances the identification effect and stability of the algorithm, it still cannot automatically identify the system model at one time, and the model identification time still needs to be further improved. Moreover, it has certain limitations in actual use: it often does not converge or converges slowly, which affects the efficiency and accuracy of the model determination of the optoelectronic tracking device, and further affects the application of the identification method.

[0004] Therefore, it is urgent to design an identification method and related system of an optoelectronic tracking device in an optoelectronic tracking system to solve the above problems. SUMMARY

[0005] Therefore, it is urgent to design an identification method and related system of an optoelectronic tracking device in an optoelectronic tracking system to solve the above problems.

[0006] The present application adopts the following technical solutions: In a first aspect, the present application provides an integrated intelligent detection and automatic identification method of an optoelectronic tracking device, which is realized based on an optoelectronic tracking system. The optoelectronic tracking system comprises a configuration screen, a serial-to-IO module, a solid-state relay, a servo control module, an optoelectronic tracking device connected in sequence, and a power supply connected to the configuration screen, the solid-state relay and the optoelectronic tracking device. The servo control module is communicatively connected to the configuration screen. The method comprises the following steps: Intelligent detection: The servo control module collects the motor current value, motor bus voltage, and encoder status information of the photoelectric tracking device in real time; the configuration screen obtains and displays the motor current value, motor bus voltage, and encoder status information in real time; the configuration screen determines in real time whether the photoelectric tracking device has a fault based on at least one of the motor current value, motor bus voltage, and encoder status information, and sends a signal to the photoelectric tracking device in real time to trigger an alarm mechanism of the photoelectric tracking device when a fault is determined to exist in the photoelectric tracking device; Automatic calculation model: The configuration screen inputs a chirp function waveform of a constant-amplitude variable-frequency current to the servo control module's current loop Q-axis open loop , give zero value to the d-axis open loop of the current loop in the servo control module; the servo control module collects The corresponding motor A phase current value of the photoelectric tracking device, The corresponding photoelectric tracking device's motor B phase current value, The corresponding encoder value is calculated in real time through the FOC control algorithm. Corresponding feedback current value The encoder is used to measure the rotation angle of the photoelectric tracking device; the configuration screen obtains the ,according to and , calculate the amplitude-frequency characteristics of the photoelectric tracking device in real time, and use the recursive least squares algorithm to calculate the first-order inertial model of the photoelectric tracking device in real time.

[0007] In a preferred embodiment, the amplitude-frequency characteristic of the photoelectric tracking device is .

[0008] In a preferred embodiment, the satisfy: ; in, Indicates time, represents the current amplitude, , Indicates the minimum value of the identification frequency, Indicates the maximum value of the identification frequency, Indicates that the configuration screen provides The total duration of .

[0009] In a preferred embodiment, the first-order inertia model is: ; in, Indicates the servo control module Second pair The time of sampling, express the time-servo control module samples , represent the corresponding feedback current value , are parameters of the first-order inertia model.

[0010] In a preferred embodiment, the step of calculating the first-order inertia model of the optoelectronic tracking device using the recursive least squares algorithm specifically comprises: calculating the first-order inertia model of the optoelectronic tracking device using the recursive least squares algorithm .

[0011] In a preferred embodiment, the step of automatically calculating the model further comprises: the configuration screen fitting the amplitude-frequency characteristic curve; the configuration screen displaying the amplitude-frequency characteristic curve using a historical curve control API interface function; the configuration screen displaying the first-order inertia model of the optoelectronic tracking device.

[0012] In a preferred embodiment, the step of automatically calculating the model further comprises: the configuration screen calculating the transfer function of the optoelectronic tracking device according to the first-order inertia model of the optoelectronic tracking device.

[0013] In a preferred embodiment, the steps of intelligent detection and automatic model calculation can be performed synchronously.

[0014] In a second aspect, the present application provides an optoelectronic tracking system capable of realizing integrated intelligent detection and automatic identification of an optoelectronic tracking device, comprising: a configuration screen, a serial-to-IO module, a solid-state relay, a servo control module, an optoelectronic tracking device, and a power supply, wherein the configuration screen, the serial-to-IO module, the solid-state relay, the servo control module, and the optoelectronic tracking device are connected in sequence, the power supply is connected to the configuration screen, the solid-state relay, and the optoelectronic tracking device, and the servo control module is communicatively connected to the configuration screen. The servo control module is configured to collect the motor current value of the optoelectronic tracking device, the motor bus voltage of the optoelectronic tracking device, and the encoder state information of the optoelectronic tracking device in real time. The configuration screen is configured to obtain and display the motor current value, the motor bus voltage, and the encoder state information in real time, to determine whether the optoelectronic tracking device has a fault based on at least one of the motor current value, the motor bus voltage, and the encoder state information in real time, to send a signal to the optoelectronic tracking device to trigger the alarm mechanism of the optoelectronic tracking device in real time when it is determined that the optoelectronic tracking device has a fault, and to input a constant-amplitude frequency-varying current of a chirp function waveform into the current loop q-axis open loop of the servo control module. , for inputting chirp function wave equal-amplitude variable frequency current into current loop q-axis open loop of the servo control module The servo control module is also used for collecting motor A phase current value of the corresponding photoelectric tracking device, motor B phase current value of the corresponding photoelectric tracking device, value of the corresponding encoder, and calculating corresponding feedback current value in real time through a FOC control algorithm The encoder is used for measuring the rotation angle of the photoelectric tracking device. The configuration screen is also used for obtaining , for calculating the amplitude-frequency characteristic of the photoelectric tracking device and calculating the first-order inertia model of the photoelectric tracking device in real time through a recursive least square algorithm and

[0015] In a preferred embodiment, the configuration screen is also used for fitting the amplitude-frequency characteristic curve, displaying the amplitude-frequency characteristic curve through a historical curve control API interface function, and displaying the first-order inertia model of the photoelectric tracking device.

[0016] The integrated intelligent detection and automatic identification method and system of the photoelectric tracking device are characterized in that the configuration screen inputs chirp function wave equal-amplitude variable frequency current into current loop q-axis open loop of the servo control module , gives zero value to current loop d-axis open loop of the servo control module, and calculates corresponding feedback current value in real time through the servo control module The configuration screen calculates the amplitude-frequency characteristic of the photoelectric tracking device and calculates the first-order inertia model of the photoelectric tracking device in real time through a recursive least square algorithm according to and The model is calculated through the recursive least square algorithm, convergence is easily and quickly realized, the model determination accuracy is ensured, the model identification efficiency is improved, the model identification time is short, and the photoelectric tracking device model in the frequency range of 0.1 Hz to 1259 Hz can be automatically identified at one time. The present application collects the relevant information of the photoelectric tracking device in real time through the servo control module, displays and judges whether the photoelectric tracking device has a fault in real time through the configuration screen, and sends a signal to the photoelectric tracking device in real time to trigger the alarm mechanism of the photoelectric tracking device when it is judged that the photoelectric tracking device has a fault. In this way, the photoelectric tracking device state detection and fault identification process can be realized by single-person carrying and operation, the photoelectric tracking device state detection and fault identification can be completed by single-person carrying the configuration screen in an island or a harsh environment, and large-scale peripherals such as industrial computers do not need to be carried. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 ​A flow chart of an integrated intelligent detection and automatic identification method of an optoelectronic tracking device of the present application; Figure 2 A structure and connection relationship diagram of an optoelectronic tracking system of the present application. DETAILED DESCRIPTION

[0018] The technical solutions of the present application will be described in detail below in combination with the drawings and preferred embodiments.

[0019] In the field of optoelectronic tracking, the optoelectronic tracking device 5 needs to be identified with its first-order inertia model, and especially needs to obtain a relatively accurate optoelectronic tracking device model when accurate control is required. It can be understood that the optoelectronic tracking device 5 includes a motor and an encoder, etc., and the optoelectronic tracking device 5 realizes movement through its motor; the optoelectronic tracking device 5 itself can rotate; the encoder is an angle encoder for encoding the rotation angle of the optoelectronic tracking device 5.

[0020] In the prior art, there are several problems in the model identification of the optoelectronic tracking device 5, including: 1. The state detection and fault identification of the optoelectronic tracking device 5 are not convenient for single soldier to carry and operate in harsh environments such as islands and rainforests, and cannot be performed simultaneously; 2. The model identification of the optoelectronic tracking device 5 takes a long time, and the controlled object model in the frequency range of 0.1 Hz~1259 Hz cannot be automatically identified at one time, wherein the model identification algorithm used today is complex, and problems such as non-convergence or slow convergence speed often occur, affecting the efficiency and accuracy of model determination, resulting in low efficiency and unstable accuracy. In view of this, the present application provides an integrated intelligent detection and automatic identification method of an optoelectronic tracking device.

[0021] Referring to Figure 1 , the present application provides an integrated intelligent detection and automatic identification method of an optoelectronic tracking device, which is realized based on an optoelectronic tracking system, the optoelectronic tracking system including a configuration screen 1, a serial port to IO module 2, a solid-state relay 3, a servo control module 4, an optoelectronic tracking device 5, and a power supply 6, the configuration screen 1, the serial port to IO module 2, the solid-state relay 3, the servo control module 4, and the optoelectronic tracking device 5 being connected in sequence, and the power supply 6 being connected to the configuration screen 1, the solid-state relay 3, and the optoelectronic tracking device 5, and the servo control module 4 being communicatively connected to the configuration screen 1; The method includes the following steps: Intelligent detection: The servo control module 4 collects the motor current value of the optoelectronic tracking device 5, the motor bus voltage of the optoelectronic tracking device 5, and the encoder state information of the optoelectronic tracking device 5 in real time; The configuration screen 1 obtains and displays the motor current value, the motor bus voltage, and the encoder state information in real time; The configuration screen 1 judges whether the optoelectronic tracking device 5 has a fault in real time according to at least one of the motor current value, the motor bus voltage, and the encoder state information, and sends a signal to the optoelectronic tracking device 5 in real time to trigger the alarm mechanism of the optoelectronic tracking device 5 when it is judged that the optoelectronic tracking device 5 has a fault. Automatic calculation model: The configuration screen 1 inputs an equal-amplitude variable-frequency current satisfying a chirp function waveform into the open loop of the current loop q axis of the servo control module 4 and gives zero value to the open loop of the current loop d axis of the servo control module 4. The servo control module 4 collects the motor A-phase current value of the corresponding optoelectronic tracking device 5 in real time, collects the motor B-phase current value of the corresponding optoelectronic tracking device 5 in real time, and collects the value of the corresponding encoder in real time. The servo control module 4 calculates the corresponding feedback current value in real time through the FOC control algorithm (FOC is the English full name of field-oriented control, also known as vector control) according to the motor A-phase current value, the B-phase current value, and the value of the encoder. The encoder is used to measure the rotation angle of the optoelectronic tracking device 5. The configuration screen 1 obtains in real time. The configuration screen 1 calculates the amplitude-frequency characteristic of the optoelectronic tracking device 5 in real time according to and . The configuration screen 1 calculates the first-order inertia model of the optoelectronic tracking device 5 in real time by using the recursive least square algorithm according to and .

[0022] It should be understood that the above steps of intelligent detection can be before or after the automatic calculation model, and in a preferred embodiment, the steps of intelligent detection and the automatic calculation model can be performed synchronously. Therefore, the above method does not represent or imply that all steps must be executed in this order, and a person skilled in the art can change or change the execution order of the above steps on the basis of the present application. Some embodiments of the above method are described below.

[0023] It can be understood that the solid state relay 3 functions to realize automatic control and isolation of the circuit, that is, to realize power-on / off control of the power supply module to the servo control module 4, and the servo control module 4 functions to drive the photoelectric tracking device 5. The serial-to-IO (Input / Output) module is used to convert a serial communication interface (such as RS232, RS485, etc.) into a general input / output interface.

[0024] It can be understood that the configuration screen 1 is in communication connection with the serial-to-IO module 2, and the servo control module 4 is in communication connection with the configuration screen 1. In this embodiment, the configuration screen 1 is connected to the serial-to-IO module 2 through RS422, and is connected to the servo control module 4 through RS422. Specifically, the configuration screen 1 inputs a current given value to the servo control module 4 through serial port 1, and the servo control module 4 sends information to the configuration screen 1 through serial port 2.

[0025] It can be understood that the photoelectric tracking device 5 is controlled by the servo control module 4, the power supply 6 supplies power to the photoelectric tracking device 5, and the power supply 6 supplies power to the servo control module 4 through the solid state relay 3. The motor of the photoelectric tracking device 5 includes an A phase and a B phase, and preferably, the motor is a direct-current brushless motor.

[0026] In this embodiment, the configuration screen 1 carries a Lua compiler, calculates the amplitude-frequency characteristic of the photoelectric tracking device 5 through the Lua compiler, obtains an amplitude-frequency characteristic curve according to the amplitude-frequency characteristic, and determines a first-order inertia model of the photoelectric tracking device 5 by using a recursive least square algorithm through the Lua compiler.

[0027] In this embodiment, the method (the step of automatically calculating the model) further includes: The configuration screen 1 fits the amplitude-frequency characteristic curve. The configuration screen 1 displays the amplitude-frequency characteristic curve by using a historical curve control API interface function. The configuration screen 1 displays the first-order inertia model of the photoelectric tracking device 5. Further, the method (the step of automatically calculating the model) further includes that the configuration screen 1 calculates a transfer function of the photoelectric tracking device 5 according to the first-order inertia model of the photoelectric tracking device 5.

[0028] Specifically, the amplitude-frequency characteristic of the photoelectric tracking device 5 is The configuration screen 1 calculates the transfer function according to The amplitude point is determined, the amplitude-frequency characteristic curve is fitted according to the amplitude point, the amplitude-frequency characteristic curve is displayed on the screen of the configuration screen 1 in real time through the historical curve control API interface function set_history_graph_value(screen, control, channel1) set in the configuration screen 1, the configuration screen 1 displays the first-order inertia model of the photoelectric tracking device 5, and the configuration screen 1 displays the calculated transfer function.

[0029] In an embodiment, the method (the step of automatically calculating the model) further comprises: the configuration screen 1 displays the feedback current value on the configuration screen 1, specifically, the feedback current value is displayed on the screen through the record_add(screen, control, record) record control in the configuration screen 1, and the display of the current value corresponding to the displayed feedback current value input to the servo control module by the configuration screen is also included.

[0030] In the embodiment, the satisfies:

[0031] wherein, is the given current value output by the configuration screen 1 (that is, the current given value of the current loop q-axis open loop in the servo control module 4), is an equal-amplitude variable-frequency chirp function, represents time, represents the current amplitude, , represents the minimum value of the identification frequency, represents the maximum value of the identification frequency, represents the total duration, specifically, the total duration provided by the configuration screen 1, , is π.

[0032] For data acquisition of the servo control module 4 on , the current collected is:

[0033] wherein, represents the time at which the servo control module 4 samples for the n-th time, represents the time at which the servo control module 4 samples .

[0034] In a preferred embodiment, the current amplitude = 0.5 ampere, , , , ​In this paper, the time unit is second, the data is updated at 1 kHz frequency, that is, the sampling frequency is 0.001 s, and the next sampling time value is the previous sampling time value plus 0.001. The test frequency is swept from 0.1 Hz to 1259 Hz for the photoelectric tracking device 5, and the data is updated at 1 kHz frequency.

[0035] In an embodiment, the photoelectric tracking device 5 model is a first-order inertia model, that is, the photoelectric tracking device 5 is a first-order inertia link, and the first-order inertia link corresponds to a first-order discrete system model:

[0036] wherein the model is a difference equation, and both represent the number of samplings, and it can be understood that each sampling corresponds to a value, represents the time corresponding to the value, , that is, corresponds to the , represents the time corresponding to the , , is the coefficient of the difference equation, , is a value calculated by the recursive least square algorithm, and the first-order inertia model of the photoelectric tracking device 5 can be obtained by obtaining the , value, therefore, , is the parameter of the first-order inertia model, and the parameter matrix of the model of the photoelectric tracking device 5 to be identified is .

[0037] Specifically, in the S domain, the first-order inertia model of the photoelectric tracking device 5 is , wherein represents the amplification factor of the first-order inertia model, represents the electromechanical time constant, wherein , represents the complex frequency domain, represents the frequency of the current loop of the photoelectric tracking device 5, represents the imaginary unit, and and can be obtained, and the first-order inertia model of the photoelectric tracking device 5 can be obtained. The transfer function is in the S domain, that is, the model is and amplitude-frequency ratio, the first-order inertia model of the photoelectric tracking device 5 with the transfer function in the S domain is converted into a difference equation, and Discrete equation of form.

[0038] In this embodiment, 10000 data points are measured within a total time of 10s , part and the corresponding numerical value.

[0039] The configuration screen 1 uses the recursive least square algorithm to calculate the parameters of the first-order inertia model. When the Lua compiler in the configuration screen 1 uses the recursive least square algorithm to calculate the parameters of the first-order inertia model, it has a preset initial value, which is: , ,

[0040] The flow of iterative calculation is as follows:

[0041]

[0042]

[0043]

[0044]

[0045]

[0046] Update the values of , and , that is, let , ,

[0047] Determine whether is true. If so, end the calculation, and the at this time is the final calculated model parameter matrix. According to the at this time, the first-order inertia model can be obtained. If not, continue iteration and perform the above calculation flow again.

[0048] wherein and are both integers in the range of [2, 10000], is a data matrix, is a gain matrix, is a one-dimensional weighting coefficient matrix, and are both model parameter matrices, and are both estimation matrices, is a convergence error, , represents the convergence factor, .

[0049] In a specific embodiment, after 25 iterations, convergence is achieved and the calculation of the model parameters is completed. The final parameters are , that is, the first-order inertial system model is Since the sampling period is 0.001s, according to the first-order inertial model of the photoelectric tracking device 5 , using the Z domain to S domain transformation, we get the transfer function .

[0050] In one embodiment, specifically, a Lua compiler is provided in the configuration screen 1, and serial port 2 returns information such as the motor current value of the photoelectric tracking device 5, the bus voltage of the motor of the photoelectric tracking device 5, and the encoder status. By setting the fault boundary value through the Lua compiler in the configuration screen 1, the system can automatically alarm, thereby improving the rapidity and intelligence of the fault diagnosis of the photoelectric tracking device 5. In this embodiment, the motor current value includes: the motor current value, specifically the phase current value of all phases of the motor under the power supply 6; it can be understood that if the state detection of the photoelectric tracking device 5 is synchronized with the steps of fault identification and model identification, the motor current value is The motor current value under action.

[0051] For the configuration screen 1, the configuration screen 1 inputs the current value of the q-axis open loop of the current loop in the servo control module 4 through the serial port as a constant-amplitude variable-frequency chirp function waveform, and the d-axis open loop is given a zero value. The current sensor in the servo control module 4 collects the current values ​​of the A and B phases of the DC brushless motor. The servo control module 4 collects the value of the encoder and calculates the feedback current value through the FOC control algorithm. The feedback current value is used as the output current value of the servo control module 4, and the output current value is transmitted back to the configuration screen 1 in real time through the serial port 2. The input current value of the servo control module 4 and the output current value of the servo control module 4 are used to write the amplitude-frequency characteristics using the Lua compiler in the configuration screen 1. The amplitude-frequency characteristic curve is obtained according to the amplitude-frequency characteristics. The Lua compiler uses the recursive least squares algorithm to determine the first-order inertia model of the photoelectric tracking device 5, and the configuration screen 1 will display the relevant data.

[0052] For the servo control module 4: the servo control module 4 receives a given current as the inner current loop q-axis input in FOC control, while the inner current loop d-axis open-loop given in FOC control is 0, by collecting the values of the angle encoder of the photoelectric tracking device 5 and the A-phase and B-phase currents of the motor, the feedback current value is calculated through the FOC control algorithm, and at the same time, the servo control module 4 calculates three duty ratios based on the feedback current value through the FOC control algorithm, which are assigned to the three comparison registers of the DSP of the servo control module 4 one by one, and the comparison registers output six-phase PWM waves which control the six IGBTs (semiconductor power devices) in the servo control module 4 one by one to realize the movement of the photoelectric tracking device 5.

[0053] In the following, a specific application example is used to illustrate an integrated intelligent detection and automatic recognition method of a photoelectric tracking device.

[0054] In this embodiment, the configuration screen 1 adopts a 7-inch configuration screen 1, which is obviously only an example and is not limited. The 7-inch configuration screen 1 is provided with chirp amplitude-frequency conversion functions, 32-bit floating-point and 16-bit conversion functions, and serial port table input and output functions. The 7-inch configuration screen 1 includes a 7-inch display screen, a single-chip microcomputer, a serial port chip, an IO interface chip, and a control circuit thereof. The power supply 6 is an AC 220V to DC 5V and DC 48V power supply, which supplies power to the entire photoelectric tracking system; the serial port to IO module 2 includes a single-chip microcomputer, a serial port chip, an IO interface chip, and a transistor control circuit; the solid-state relay is a weak current 5V input collector open circuit NAND gate switch circuit; the servo control module 4 includes a DSP chip, an IO interface chip, a serial port chip, a current acquisition chip, an integrated operational amplifier, and a high-power MOSFET circuit. The servo control module 4 adopts a position, speed, and current three-closed-loop control mode, and uses a DSP to realize a FOC control algorithm to drive the photoelectric tracking device 5 to move. The encoder in the photoelectric tracking device 5 is a 26-bit circular grating, and the motor is a 48V brushless DC motor.

[0055] The 7-inch configuration screen 1 matches the 32-bit high-level output serial port to IO module 2 to set 32 switch button controls, and controls the solid-state relay conduction to power on the servo module. Secondly, the given current is set as a chirp function with a constant amplitude and a changing frequency, and the given current value is sent to the servo control module 4 through serial port one, and the timer in the configuration screen 1 controls the sending period to be 1 kHz. At the same time, the servo control module 4 collects the encoder angle position information in the photoelectric tracking device 5 and the feedback current value calculated by the FOC control algorithm from the motor A-phase and B-phase current values collected by the current chip, and feeds back to the configuration screen 1 through serial port two. Finally, the amplitude-frequency characteristic of the photoelectric tracking device 5 is calculated in real time from the feedback current value and the given current value, and the amplitude-frequency characteristic and its fitting curve are displayed in real time on the configuration screen 1 through the historical curve control. Combined with the recursive least squares algorithm, the controlled object model is automatically identified. At the same time, the servo control module 4 can output the motor current value, bus voltage and encoder state information to the configuration screen 1 through serial port two, and display them in the text control of the configuration screen 1, which is convenient for fault positioning and diagnosis of the photoelectric tracking device 5.

[0056] The specific implementation process is as follows: (1) The photoelectric tracking system is powered on, the API interface function in the configuration screen 1 is initialized, the LOGO animation and the timer are started, the period of the timer is set to 2s, the start time is set to 1 time, and the timer timing time is judged in the timer timeout callback function. After 2s, stop playing the LOGO animation and switch the screen, and the configuration screen 1 enters the start switch switching interface of each minimum replaceable unit.

[0057] (2) Click the solid-state relay 3 power-on switch control in the switch switching interface, and the screen switches to the power-on control interface. The configuration screen 1 matches the 32-bit level control module of the serial port to IO module 2, so the power-on control interface sets 32 switch button controls. In the LUA compiler in the configuration screen 1, the function on_control_notify(screen, control, value) function is used to poll and collect the states of 32 keys through a for loop statement, and the key states are stored in a 32-element one-dimensional array. In the LUA in the configuration screen 1, the uart_send_data() function is used to send the key states to the serial port to IO control module, realize the conduction of the solid-state relay, complete the power-on and power-off control of the servo control module 4 by the power supply 6, and realize the movement of the photoelectric tracking device 5 driven by the servo control module 4.

[0058] (3) After power-up, click the return home button in the power-up control interface to switch back to the switch switching interface. Click the direction power level button in the switch switching interface to trigger the key notification function in configuration screen 1, and set the switch to the direction power level test interface in the key notification function. Click the stop switch button of the direction power level test interface to start the timer, and send the chirp excitation with constant amplitude and variable frequency to the servo control module 4 through the serial port at a frequency of 1 kHz, that is, convert the sweep float type real-time current value to 32-bit hexadecimal data, and send it to the current loop in the servo control module 4 through the serial port 1 at a frequency of 1 kHz set by the timer in the configuration screen 1.

[0059] (4) The chirp excitation is directly sent to the q-axis of the current loop in the servo control module 4, and the d-axis of the current loop is open-loop given as 0. The servo control module 4 collects the angle encoder value of the photoelectric tracking device 5 corresponding to the chirp excitation and the A-phase and B-phase current values of the direct-current brushless motor in the photoelectric tracking device 5, calculates the three PWM wave duty cycle assignments through the FOC control algorithm in the servo control module 4, assigns the three comparators in the servo control module 4, controls the turn-off of the six IGBTs in the servo control module 4, and realizes the driving of the photoelectric tracking device 5. At the same time, the feedback current value is calculated in real time by the FOC control algorithm in the servo control module 4. The state information of the photoelectric tracking device 5 and the feedback current value are fed back to the configuration screen 1 in real time through the serial port 2. Using the amplitude-frequency formula of the controlled object, the error is calculated by the recursive least squares algorithm, and a first-order inertia model is fitted to obtain the amplitude-frequency characteristic curve in real time. The amplitude-frequency characteristic curve fitted is output to the display screen in real time by using the historical curve set_history_graph_direction (screen, control, direction) API interface function in the configuration screen 1, and the controlled object model in the inner loop of the control system of the photoelectric tracking device 5 in the frequency range of 0.1 Hz~1259 Hz can be automatically identified within 10s. The identification parameters obtained in the direction power level test interface are 、 .

[0060] Among them, and are sent to the record control record_add (screen, control, record) in the configuration screen 1 through the serial port 2, and can be obtained in real time. Record in the form of a record table, the final serial number in the record table is 10000, and since the sampling frequency is 0.001s, the recording time is 10000*0.001s=10s. Therefore, this method can automatically identify a first-order inertia model within 10s.

[0061] (5) Configuration screen 1 receives various information fed back by servo control module 4 through serial port 2, and displays the received feedback information, such as motor current value, motor bus voltage, encoder status information, etc., in real time in the text control of configuration screen 1 through the serial port callback function on_uart_recv_data(packet). If configuration screen 1 receives an encoder fault bit, or the encoder angle exceeds the maximum or minimum boundary value, or other fault conditions, the encoder fault is displayed in the text control and the alarm mechanism of photoelectric tracking device 5 is triggered. Photoelectric tracking device 5 issues an alarm, thus realizing intelligent fault diagnosis.

[0062] The present invention provides a photoelectric tracking system capable of realizing integrated intelligent detection and automatic identification of a photoelectric tracking device, comprising a configuration screen 1, a serial port to IO module 2, a solid-state relay 3, a servo control module 4, a photoelectric tracking device 5, and a power supply 6. The configuration screen 1, the serial port to IO module 2, the solid-state relay 3, the servo control module 4, and the photoelectric tracking device 5 are connected in sequence, the power supply 6 is connected to the configuration screen 1, the solid-state relay 3, and the photoelectric tracking device 5, and the servo control module 4 is communicatively connected to the configuration screen 1. The servo control module 4 is used to collect the motor current value of the photoelectric tracking device 5, the motor bus voltage of the photoelectric tracking device 5, and the encoder status information of the photoelectric tracking device 5 in real time; The configuration screen 1 is used to obtain and display the motor current value, the motor bus voltage, and the encoder status information in real time, and is used to determine in real time whether the photoelectric tracking device 5 has a fault based on at least one of the motor current value, the motor bus voltage, and the encoder status information. When it is determined that the photoelectric tracking device 5 has a fault, a signal is sent to the photoelectric tracking device 5 in real time to trigger the alarm mechanism of the photoelectric tracking device 5, and is used to input a constant-amplitude variable-frequency current of a chirp function waveform into the current loop q-axis open loop in the servo control module 4. , used to give a zero value to the d-axis open loop of the current loop in the servo control module 4; The servo control module 4 is also used for real-time acquisition The corresponding photoelectric tracking device 5 motor A phase current value, collection The corresponding photoelectric tracking device 5 motor B phase current value, collection The servo control module 4 is used to calculate the corresponding encoder value in real time through the FOC control algorithm according to the motor A phase current value, B phase current value and encoder value. Corresponding feedback current value , the encoder is used to measure the rotation angle of the photoelectric tracking device 5; The configuration screen 1 is used to obtain real-time , used according to and The amplitude-frequency characteristic of the photoelectric tracking device 5 is calculated in real time, and the amplitude-frequency characteristic is used to calculate the first-order inertia model of the photoelectric tracking device 5 according to and The first-order inertia model of the photoelectric tracking device 5 is calculated in real time by using a recursive least square algorithm.

[0063] In an embodiment, the configuration screen 1 is further used to fit the amplitude-frequency characteristic curve, display the amplitude-frequency characteristic curve by using a historical curve control API interface function, and display the first-order inertia model of the photoelectric tracking device 5.

[0064] In an embodiment, the configuration screen 1 is further used to calculate the transfer function of the photoelectric tracking device 5 according to the first-order inertia model of the photoelectric tracking device 5.

[0065] The integrated intelligent detection and automatic identification method and system of the photoelectric tracking device comprises the following steps: the configuration screen 1 inputs a chirp function waveform with equal amplitude and variable frequency current into the open loop of the current loop q axis of the servo control module 4 and gives zero value to the open loop of the current loop d axis of the servo control module 4; the servo control module 4 collects the motor A phase current value of the photoelectric tracking device 5, collects the motor B phase current value of the photoelectric tracking device 5, and collects the value of the encoder The corresponding feedback current value is calculated in real time by the servo control module 4 according to the motor A phase current value, the B phase current value and the value of the encoder through a FOC control algorithm The configuration screen 1 calculates the amplitude-frequency characteristic of the photoelectric tracking device 5 according to and The amplitude-frequency characteristic of the photoelectric tracking device 5 is calculated, and a first-order inertia model of the photoelectric tracking device 5 is calculated by using a recursive least square algorithm; in this way, the identification method is simple, the identification time is short, the model of the photoelectric tracking device 5 in a frequency range of 0.1 Hz to 1259 Hz can be automatically identified at one time, the model of the photoelectric tracking device 5 in a frequency range of 0.1 Hz to 1259 Hz can be automatically identified at one time within 10 seconds, and the specific method is that the first-order inertia model of the photoelectric tracking device 5 is calculated by using the recursive least square algorithm, convergence is easy to achieve and fast, and the accuracy and efficiency of model determination can be ensured. In the application, the servo control module 4 collects the motor current value of the photoelectric tracking device 5, the motor bus voltage of the photoelectric tracking device 5 and the encoder state information of the photoelectric tracking device 5 in real time; the configuration screen 1 obtains and displays the motor current value, the motor bus voltage and the encoder state information in real time; the configuration screen 1 determines whether the photoelectric tracking device 5 has a fault according to at least one of the motor current value, the motor bus voltage and the encoder state information, and sends a signal to the photoelectric tracking device 5 in real time to trigger the alarm mechanism of the photoelectric tracking device 5 when it is determined that the photoelectric tracking device 5 has a fault; in this way, the configuration screen 1 can be carried and operated by a single soldier, the photoelectric tracking device 5 state detection and fault identification can be completed independently, and large external devices such as industrial computers are not needed.

[0066] Specifically, based on the application, a small-size configuration screen 1 can be carried by a single soldier on an island or in a harsh environment, a remote serial port can be accessed, the model identification of the photoelectric tracking device 5 and the state detection and fault identification of the photoelectric tracking device 5 can be completed independently, and large external devices such as industrial computers are not needed for field maintenance testing and fault diagnosis.

[0067] Specifically, the application integrates photoelectric tracking device 5 state information display and system automatic identification, and has high integration.

[0068] Specifically, in the application, a chirp function is used as input, an equal-amplitude variable-frequency excitation is applied to the servo control module 4, the photoelectric tracking device 5 model is identified at one time, quickly and automatically, and the design cycle of related designs in the photoelectric tracking system can be improved to a certain extent based on this design.

[0069] Specifically, the steps of intelligent detection and automatic model calculation in the application can be performed synchronously, and the efficiency of the method is improved.

[0070] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the description.

[0071] The above embodiments only express several implementation manners of the present application, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the patent scope of the present application. It should be noted that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An integrated intelligent detection and automatic identification method for photoelectric tracking equipment, characterized in that: The method is implemented based on a photoelectric tracking system, which includes a configuration screen, a serial port to IO module, a solid-state relay, a servo control module, and a photoelectric tracking device connected in sequence, and also includes a power supply connecting the configuration screen, the solid-state relay, and the photoelectric tracking device. The servo control module is communicatively connected to the configuration screen. The method includes the following steps: Intelligent detection: The servo control module collects the motor current value, motor bus voltage, and encoder status information of the photoelectric tracking device in real time; the configuration screen obtains and displays the motor current value, motor bus voltage, and encoder status information in real time; The configuration screen determines in real time whether the photoelectric tracking device has a fault based on at least one of the motor current value, the motor bus voltage, and the encoder status information, and sends a signal to the photoelectric tracking device in real time to trigger an alarm mechanism of the photoelectric tracking device when it is determined that the photoelectric tracking device has a fault; Automatic calculation model: The configuration screen inputs a chirp function waveform of a constant-amplitude variable-frequency current to the servo control module's current loop Q-axis open loop , give zero value to the d-axis open loop of the current loop in the servo control module; the servo control module collects The corresponding motor A phase current value of the photoelectric tracking device, The corresponding photoelectric tracking device's motor B phase current value, The corresponding encoder value is calculated in real time through the FOC control algorithm. Corresponding feedback current value , the encoder is used to measure the rotation angle of the photoelectric tracking device; The configuration screen obtains real-time ,according to and , calculate the amplitude-frequency characteristics of the photoelectric tracking device in real time, and use the recursive least squares algorithm to calculate the first-order inertial model of the photoelectric tracking device in real time.

2. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 1, characterized in that: The amplitude-frequency characteristics of the photoelectric tracking device are: .

3. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 1, characterized in that: described satisfy: ； in, Indicates time, represents the current amplitude, , Indicates the minimum value of the identification frequency, Indicates the maximum value of the identification frequency, Indicates that the configuration screen provides The total duration of .

4. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 3, characterized in that: The first-order inertia model is: ； in, Indicates the servo control module Second pair The time of sampling, express The time servo control module samples , express The corresponding feedback current value, 、 are the parameters of the first-order inertial model.

5. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 4, characterized in that: The method of using the recursive least squares algorithm to calculate the first-order inertial model of the photoelectric tracking device is as follows: using the recursive least squares algorithm to calculate the and stated .

6. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 1, characterized in that: The step of automatically calculating the model also includes: The configuration screen is fitted with an amplitude-frequency characteristic curve; The configuration screen displays the amplitude-frequency characteristic curve using a history curve control API interface function; The configuration screen displays the first-order inertial model of the optoelectronic tracking device.

7. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 6, characterized in that: The step of automatically calculating the model further includes: the configuration screen calculating the transfer function of the photoelectric tracking device according to the first-order inertial model of the photoelectric tracking device.

8. The integrated intelligent detection and automatic identification method of a photoelectric tracking device according to claim 1, characterized in that: The steps of intelligent detection and automatic model calculation can be performed simultaneously.

9. A photoelectric tracking system capable of realizing integrated intelligent detection and automatic identification of photoelectric tracking equipment, characterized in that: include: A configuration screen, a serial port to IO module, a solid-state relay, a servo control module, a photoelectric tracking device, and a power supply are connected in sequence. The power supply is connected to the configuration screen, the solid-state relay, and the photoelectric tracking device. The servo control module is communicatively connected to the configuration screen. The servo control module is used to collect the motor current value, motor bus voltage and encoder status information of the photoelectric tracking device in real time; The configuration screen is used to obtain and display the motor current value, the motor bus voltage, and the encoder status information in real time; to determine in real time whether the photoelectric tracking device has a fault based on at least one of the motor current value, the motor bus voltage, and the encoder status information; to send a signal to the photoelectric tracking device in real time to trigger the alarm mechanism of the photoelectric tracking device when it is determined that the photoelectric tracking device has a fault; and to input a constant-amplitude variable-frequency current of a chirp function waveform into the q-axis open loop of the current loop in the servo control module. , used to give a zero value to the d-axis open loop of the current loop in the servo control module; The servo control module is also used for real-time acquisition The corresponding motor A phase current value of the photoelectric tracking device, The corresponding photoelectric tracking device's motor B phase current value, The corresponding encoder value is calculated in real time through the FOC control algorithm. Corresponding feedback current value , the encoder is used to measure the rotation angle of the photoelectric tracking device; The configuration screen is also used to obtain real-time , used according to and , calculate the amplitude-frequency characteristics of the photoelectric tracking device in real time, and use the recursive least squares algorithm to calculate the first-order inertial model of the photoelectric tracking device in real time.

10. The photoelectric tracking system capable of realizing integrated intelligent detection and automatic identification of photoelectric tracking equipment according to claim 9, characterized in that: The configuration screen is also used to fit the amplitude-frequency characteristic curve, display the amplitude-frequency characteristic curve using the history curve control API interface function, and display the first-order inertial model of the photoelectric tracking device.

Images